Obstacle avoiding algorithm is structured in three individual tasks(agents): travel, detection and processing. The detection task is the obstacle recognition agent and the processing task is the decision making agent.

Also, beside this three tasks i coded an aditional task for bluetooth comunication between the PC and the robot. This tasks job is to remotely send goal points and monitor robot preformances.

Obstacle avoiding algorithm is structured in three individual tasks(agents): travel, detection and processing. The detection task is the obstacle recognition agent and the processing task is the decision making agent.

Also, beside this three tasks i coded an aditional task for bluetooth comunication between the PC and the robot. This tasks job is to remotely send goal points and monitor robot preformances.

thanks for the information. I asked because I'm planning on writing a rule engine for lejos. In my free time I write production rule engines for fun.

my plan right now is to create a mini rule language for lejos and then build a rule engine around it. I've thinking about it since 2004. I hope to start on it in a few months and post it on sourceforge.